Seeding control system and method

ABSTRACT

A seeding control system and method to improve yield by minimizing overplanting and underplanting during planting operations. As the planter traverses the field, a precise seed placement map is created by associating the time of each seed pulse generated by the seed sensors with the location of a GPS unit. Based on the generated seed placement map, a stop-planting boundary is defined by previously planted seed or other field boundary such that when a swath of the planter crosses over the stop-planting boundary the swath controllers disengage the drivers of the corresponding seed meters to prevent planting of seeds. The swath controllers cause the drivers to reengage allowing planting to resume when the affected swaths pass out of the stop planting boundary.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.13/812,483, filed Jan. 25, 2013, which is a National Stage ofInternational Patent Application No. PCT/US2011/045587, filed Jul. 27,2011, which claims the benefit of U.S. Provisional Application No.61/368,117, filed Jul. 27, 2010, each of which is incorporated herein byreference.

BACKGROUND

Planters with variable rate seeding (“VRS”) control systems which allowthe seeding rate to be varied while on-the-go based on soil type andsoil conditions are well known in the art. Likewise, it is also wellknown in the planter art to provide “swath control” systems to start andstop seeds being planted in individual rows or sets of rows whileon-the-go to minimize overplanting in point rows or underplanting whenentering or exiting headlands, around waterways and field boundaries.

Currently available VRS and swath control systems cooperate with GlobalPosition Systems (“GPS”) and field coverage maps to control the seedmeter by engaging and disengaging drive clutches so as to control therotation and/or speed of rotation of the seed disc for vacuum meters orthe rotation of the fingers for finger pick-up meters. However, suchsystems rely on planter location at the time commands are sent to theVRS and swath control systems rather than accurately determining whenthe seed is actually physically placed in the field. As a result,significant overplanting, underplanting or other inaccuracies can stilloccur with planters equipped with VRS and swath control systems whichrely solely on GPS and coverage maps. For example, if a farmer startsplanting but one or more row units are not dispensing seeds due to amalfunction, the field coverage map will show that the area has beenplanted even though no seed was actually dispensed. It would then bedifficult to truly plant that area once the farmer realized the error.

Accordingly there is a need for an improved seeding control system thatprovides the advantages of VRS and swath control, but which is based onprecise seed placement mapping as opposed to GPS-based coverage mappingto minimize overplanting and underplanting of fields.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows an eight-row planter without swath control illustratingunderplanting of a headland.

FIG. 2 shows an eight-row planter without swath control illustratingoverplanting of a headland.

FIG. 3 shows an eight-row planter without swath control illustrating50/50 underplanting-overplanting of a headland.

FIG. 4 shows an eight-row planter with 1-row swath control illustratingideal planting with no overplanting or underplanting of a headland.

FIG. 5 A shows an eight-row planter illustrating underplanting with a2-row swath control system.

FIG. 5B shows an eight-row planter illustrating overplanting with a2-row swath control system.

FIG. 5C shows an eight-row planter illustrating 50/50overplanting-underplanting with a 2-row swath control system.

FIG. 6 shows a field with an inner boundary illustrating different seedpopulations planted using a VRS with 1-row swath control.

FIG. 7 is a schematic illustration of an embodiment of seeding controlsystem.

FIG. 8 illustrates an embodiment of a monitor screen for entering GPSoffsets with respect to a tractor.

FIG. 9 illustrates an embodiment of a monitor screen for enteringoffsets with respect to a pivot axis of a planter.

FIG. 10A illustrates an embodiment of a monitor screen for beginning aGPS offset verification routine.

FIG. 10B illustrates an embodiment of a monitor screen for continuing aGPS offset verification routine.

FIG. 10C illustrates an embodiment of a monitor screen for completing aGPS offset verification routine.

FIG. 10D illustrates an embodiment of a monitor screen for displayingmeasured and operator-entered GPS offsets.

FIG. 11 illustrates an embodiment of a monitor screen for configuringswath controllers by selecting a coverage pattern.

FIG. 12 is a schematic illustration of an embodiment of a method ofdetermining a variable rate drive stop delay.

FIG. 13A is a schematic illustration of an embodiment of a method ofdetermining a variable rate drive start delay.

FIG. 13B is a schematic illustration of an embodiment of a method ofstopping a variable rate drive based on a variable rate drive stopdelay.

FIG. 13C is a schematic illustration of an embodiment of a method ofstarting a variable rate drive based on a variable rate drive startdelay.

FIG. 14 is a schematic illustration of an embodiment of a method ofdetermining a drive ratio between a seed meter and a variable ratedrive.

FIG. 15A is a schematic illustration of an embodiment of a method ofdetermining a start delay and a stop delay of a swath controller.

FIG. 15B is a schematic illustration of an embodiment of a method ofdisengaging a swath controller based on a swath control stop delay.

FIG. 15C is a schematic illustration of an embodiment of a method ofengaging a swath controller based on a swath control start delay.

FIG. 16A is a graph of empirical data illustrating various delaysassociated with a swath controller.

FIG. 16B is a schematic illustration of an embodiment of a method ofdetermining components of a swath control stop delay.

FIG. 17A is a schematic illustration of an embodiment of a method ofselecting a speed input.

FIG. 17B is a schematic illustration of an embodiment of a method ofstopping and starting a variable rate motor based on acceleration.

FIG. 18 is a schematic illustration of an embodiment of a user interfacescreen used to select stop-planting conditions.

FIG. 19A is a schematic illustration of an embodiment of a method ofidentifying an operational problem with a seeding control system.

FIG. 19B illustrates an embodiment of a monitor screen for displaying anoperational summary of a seeding control system.

FIG. 19C is a schematic illustration of another embodiment of a methodof identifying an operational problem with a seeding control system.

DESCRIPTION

Referring now to the drawings, wherein like reference numerals designateidentical or corresponding parts throughout the several views, FIGS. 1-5show a planter 10 planting seeds 11 in a field 13 in which the headland15 has been previously planted. FIGS. 1-5 are intended to illustrate forcomparison purposes “overplanting” and “underplanting” plantingtechniques using an eight-row planter without swath control (FIGS. 1-3)and then with swath control (FIGS. 4-5).

FIG. 1 shows an eight-row planter without swath control overplanting theheadland 15 (i.e., where planting continues across all rows until thelast row is within the headland 15). FIG. 2 illustrates an eight-rowplanter without swath control underplanting the headland 15 (i.e., whereplanting stops across all rows as soon as the first row enters theheadland 15). FIG. 3 shows an eight-row planter without swath controlillustrating 50-50 underplanting-overplanting of the headland 15 (i.e.,where planting continues across all rows until half of the rows enterthe headland 15). It should be understood that the opposite occurs whenexiting a headland. That is, when exiting a headland using theoverplanting technique, planting begins across all rows as soon as thefirst row of the planter exits the headland. Likewise, when exiting aheadland using the underplanting technique, planting does not beginacross all rows until the last row exits the headland. With the 50/50technique, planting begins across all rows when half of the rows exitthe headland.

FIG. 4 shows an eight-row planter with swath control on every row of theplanter (hereinafter a “1-row swath control”). FIGS. 5A-5C illustrate aneight-row planter with swath control for every two rows of the planter(hereinafter a “2-row swath control”). It should be appreciated thatswath control may include any desired number of rows. Comparing FIGS.1-3 with FIG. 4, one can clearly see that a 1-row swath control systemwill ideally plant a field with little or no overplanting orunderplanting thereby minimizing wasted seed and unplanted areasresulting in improved yield, all other factors being equal. Similarly,comparing FIGS. 1-3 with FIGS. 5A, 5B and 5C, one can clearly see that a2-row swath control system will ideally plant a field with only minimaloverplanting or underplanting when compared to conventional planterswithout swath control.

FIG. 6 shows a field 13 having two different soil types 15, 17designated by different hatch patterns, separated by an inner boundary19. The different soil types are shown planted with different seedpopulations (note different spacing of seeds 11 between the differentsoil types 15,17) using a planter with VRS and 1-row swath controlwherein as each row unit passed the inner boundary 19, the VRS wasengaged to change the seed population to the different soil type.

It should be appreciated, however, that even if the planter is equippedwith a swath control system, unless precise seed placement is known andunless the swath control system takes into account certain factors,significant overplanting and underplanting can still take place if thesefactors are not taken into consideration. These factors include planterspeed, timing delays in starting and stopping of the seed meter, andtiming delays between the seed being discharged from the seed meteruntil the seed passes through the seed tube and into the furrow, andother factors as discussed later. It should also be appreciated thatoverplanting and underplanting of rows can occur when entering orexiting different soil types with different desired seed populations ifthese same factors are not taken into account.

General Overview

FIG. 7 illustrates a seeding control system 1005 that cooperates withthe row units 12 of a planter 10 to improve yield by taking theabove-identified factors and other factors into consideration forprecise mapping of seed placement in the field.

In FIG. 7, the row unit 12 is illustrated as a row unit for acentral-fill planter such as disclosed in U.S. Pat. No. 7,438,006,incorporated herein in its entirety by reference, but it should beappreciated that the seeding control system 1005 may be used with moreconventional row units such as disclosed in U.S. Pat. No. 4,009,668,also incorporated herein in its entirety by reference, or any other typeof row unit for any make or model of a planter. The row units 12 arespaced along a toolbar 14 of the planter main frame. The planter mainframe is attached to a tractor (not shown) in a conventional manner,such as by a drawbar or three-point hitch arrangement as is well knownin the art. Ground wheel assemblies (not shown) support the main frameabove the ground surface and are moveable relative to the main framethrough actuation of the planter's hydraulic system (not shown) coupledto the tractor's hydraulics to raise and lower the planter main framebetween a transport position and a planting position, respectively.

Each row unit 12 is preferably supported from the toolbar 14 by aparallel linkage 16 which permits each row unit 12 to move verticallyindependently of the toolbar 14 and the other spaced row units in orderto accommodate changes in terrain or upon the row unit encountering arock or other obstruction as the planter is drawn through the field.Each row unit 12 includes a seed meter 30, a seed tube or other seedpath 32, a furrow opening assembly 34 and a furrow closing assembly 36.The furrow opening assembly cuts a furrow 38 into the soil surface 40 asthe planter 10 is drawn through the field. A constant supply of seed 11is communicated to the seed meter 30. The seed meter 30 dischargesindividual seeds 11 into the seed tube 32 at spaced intervals based onthe seed population desired and the speed at which the planter is drawnthrough the field. The seed 11 drops from the end of the seed tube 32into the furrow 38 formed by the furrow opening assembly 34. The seeds11 are then covered with soil by the closing wheel assembly 36.

In operation, as each seed 11 passes through the seed tube 32, the seedsensor 200 sends a seed pulse to the planter monitor 1000. The plantermonitor 1000 associates the time of the seed pulse with a location ofthe GPS unit 100 to determine the precise location of the planted seedwithin the field by taking into account the planter speed, seedpopulation, offset distances, etc., all previously determined andcalibrated during setup and calibration phases (discussed later) togenerate a precise seed placement map. Based on the generated seedplacement map, the planter monitor 1000 will determine if a“stop-planting” condition exists when a row unit or swath (i.e. one ormore row units controlled by a swath controller 1500) of the planter 10passes over a previously planted seed or when a row unit or swathtravels across a headland, an outer boundary or an inner boundary of thefield. If a stop-planting condition exists for a particular row unit orswath, a signal will be generated to disengage a clutch taking intoaccount various factors such as planter speed, changes in acceleration,clutch delays, seed drop delays, etc., all previously determined andcalibrated during the setup and calibration phases (discussed later)such that the corresponding seed meters cease dispensing seed at theappropriate time and to resume dispensing seed at the appropriate timeafter the “stop planting” condition has passes so as to ensure minimaloverplanting or underplanting of the field.

Preferred Seeding Control System Components

The seeding control system 1005 preferably includes a GPS (globalpositioning system) unit 100, seed sensors 200, a control unit 350, andheight sensors 705, a planter monitor 1000, a cab module 1105 and aradar system 1205 which cooperate to control a variable rate drives 1600and swath controllers 1500 of the planter 10 to minimize overplantingand underplanting of fields.

The planter monitor 1000 is typically mounted in the tractor cab so itcan be easily viewed and interfaced with by the operator while planting.A preferred planter monitor 1000 is the 20/20 SeedSense® from PrecisionPlanting, Inc., 23207 Townline Road, Tremont, Ill. 61568 and asdisclosed in published U.S. patent application Pub. No. US 2010/0010667,incorporated herein in its entirety by reference. The planter monitorpreferably utilizes a touch screen graphic user interface (GUI) andincludes microprocessor, memory and other applicable hardware andsoftware for receiving, storing, processing, communicating, displayingand performing the various features and functionalities as hereinafterdescribed (hereinafter, collectively, the “processing circuitry”) asreadily understood by those skilled in the art. The planter monitor 1000is preferably configured to communicate with a data transfer device suchas a USB flash drive, internet connection or any other data transfermeans for input and retrieving seed population rates, field mappinginformation, etc. In addition, the planter monitor 1000 is in electricalcommunication (via wires or wirelessly) to receive input signals fromthe seed sensors 200, a GPS unit 100 and the cab module 1105.

Seed sensors 200 are mounted to the seed tubes 32 of the row units 12 todetect the passage of seed therethrough. A common seed sensor 200 is aphotoelectric sensor, such as manufactured by Dickey-John Corporation,5200 Dickey-John Road, Auburn, 111. 62615. A typical photoelectricsensor generally includes a light source element and a light receivingelement disposed over apertures in the forward and rearward walls of theseed tube. In operation, whenever a seed passes between the light sourceand the light receiver, the passing seed interrupts the light beamcausing the sensor 200 to generate a seed pulse or electrical signalindicating the detection of the passing of a seed. It should beappreciated that any type of seed sensor capable of producing anelectrical signal to designate the passing of a seed may be used.

The GPS unit 100 is configured to receive a GPS signal, comprises aseries of GPS data strings, from a satellite (not shown). The GPS signalis communicated to the planter monitor 1000. A preferred GPS unit 100 isa Deluo PMB-288 available from Deluo, LLC, 10084 NW 53rd Street,Sunrise, Fla. 33351, or other suitable device. The GPS unit 100, is usedto monitor the speed and the distances traveled by the planter 10. Aswill be discussed in more detail later, preferably the output of the GPSunit 100, including the planter speed and distances traveled by theplanter, is communicated to the planter monitor 1000 for display to theplanter operator and/or for use in various algorithms for derivingrelevant data used in connection with the preferred system and method ofthe present invention. In alternative embodiments, the GPS unit 100comprises a positioning system configured to use the signals of othersatellite systems such as GLONASS or Galileo. In still otherembodiments, the GPS unit 100 may comprise any other positioning systemconfigured to determine the latitudinal and longitudinal position of theplanter 10.

In addition to a GPS unit, the seeding control system 1005 preferablyincludes a radar system 1205 to determine a speed of the planter 10because empirical data has shown that data from the GPS unit 100 isdelayed and untrustworthy at speeds lower than approximately one mileper hour (1 mph). Empirical data has also shown that the GPS unit 100will indicate speeds of 0.1 or 0.2 mph when the planter 10 is actuallystopped. For these reasons, speed inputs provided by GPS systems aloneare non-ideal for accurately determining when a planter 10 has stoppedor for predicting when the planter will stop (for reasons discussedlater) or when determining if the planter 10 has resumed travel. Theradar system 1205 is placed in a fixed location and sends a radar signalto the cab module 1105 which in turn communicates the radar signal tothe planter monitor 1000 for displaying the planter speed.

The cab module 1105 is preferably mounted in the tractor cab such thatit too can be easily viewed and interfaced with by the operator whileplanting. The cab module 1105 preferably includes switches configured toallow the operator to turn the variable rate drives 1600 on and off andto selectively engage and disengage the swath controllers 1500 duringpre-planting calibration routines (discussed later). The cab module 1105also communication with the radar system 1205 and includes processingcircuitry configured to determine whether the radar-reported speed isstable for reasons discussed later.

The height sensors 705 may comprise a contact switch configured to closeor open a circuit when the gauge wheel arms of the furrow openingassembly 34 are no longer in contact with the gauge wheel arm stopindicating that the planter is in a transport position or otherwiseraised above the soil. In other embodiments, the height sensor 705 mayalso comprise any sensor mounted to a location on the planter 10 thatdetermines the height of said location relative to the soil surface 40for purposes of indicating that the row unit is in a transport positionor otherwise raised above the soil.

The control unit 350 preferably includes an inclinometer 600, verticalaccelerometer 500, a horizontal accelerometer 400 and appropriateprocessing circuitry all physically integrated into a single unit thatis preferably mounted to the toolbar 14 of the planter 10, but which maybe mounted in other suitable location and in any orientation appropriateto measure the horizontal acceleration, vertical acceleration, andinclination of the tractor and/or toolbar 14. The control unit 350 is inelectrical communication (via wires or wirelessly) with the swathcontrol 1500, the variable rate drives 1600, the height sensors 705 andthe cab module 1105. More than one control unit 350 may be utilized.

Setup

In a setup phase, the operator is preferably able to select the tractormake and model and the planter make and model preferably through dropdown selection menus. The geometry of the various tractor and plantermakes and models are preferably stored in memory to make the setup phasequicker and easier so the operator does not have to physically measureeach of the various distances discussed below for modeling the geometryof the planter and the offset distances to the GPS unit 100. The seedingcontrol system 1005 uses these distances to determine the location ofeach seed sensor 200 based on a location of the GPS unit 100. Thefollowing method and illustrations assume that the GPS unit 100 ismounted on the tractor cab, although it should be appreciated that othermounting locations (such as the planter 10 itself) are possible.

FIG. 8 illustrates an embodiment of a setup screen 1200 displayed by theplanter monitor 1000 for entering GPS offsets with respect to thetractor. As illustrated in screen 1200 the offset distances include thedistance 1202 from the GPS unit 100 to the centerline of the rear wheelsof tractor, a distance 1206 to the centerline of the tractor, a distance1210 from the centerline of the rear wheels of the tractor to the pivotof the tractor, and a distance 1214 to the ground. It should beappreciated that although the other distances entered in the setup phaseas described herein are used to establish the location of the seed tubeexit, the distance 1202 to the centerline of the rear wheels of thetractor is used to model the location of the planter 10 while raised ina transport position behind the tractor.

FIG. 9 illustrates an embodiment of another setup screen 1300 displayedby the planter monitor 1000 for entering locations on the planter 10with respect to the planter pivot point. In addition to selecting a makeand model, the operator may be prompted to select the planter frame typeand/or hitch style, such as drawn, 2-point pivot, and 3-point. Theplanter monitor 1000 preferably displays an image 1306 representing thegeometry of the selected planter frame type and/or hitch style andprompts the operator to enter distances needed to model the plantergeometry. In the illustrative example of FIG. 9, the planter monitor1000 requires the operator to enter the distance 1308 between the pivotand the centerline of the gauge wheels 48 as well as the distance 1312between the pivot and the seed exit. Other frame types and hitch styleswill require the operator to measure and input additional or differentdistances. The planter monitor 1000 assumes transverse distances fromthe seed exits of each of the row units to the centerline of the tractorbased on the planter make and model previously entered by the operator.Alternatively, the operator selects the custom table setup window 1316and enters transverse distances 1318 from each seed exit to thecenterline of the planter 10.

As part of the initial setup, the operator is preferably prompted toperform a verification routine to verify the GPS offsets entered in theprevious setup screens 1200 and 1300. FIG. 10A illustrates anotherembodiment of a setup screen 1400 prompting the operator to place flags1405 next to the gauge wheels 48 of the rightmost and leftmost row unitsof the planter 10. When the operator indicates that the planter 10 is inplace, the planter monitor 1000 records a first test location of the GPSunit 100. FIGS. 10B and 10C illustrate embodiments of subsequent setupscreens 1410 and 1420 prompting the operator to turn the planter 10around such that the flags 1405 are adjacent to the gauge wheels 48 onthe opposite sides of the planter 10. When the operator indicates thatthe planter 10 is in place, the planter monitor records a second testlocation of the GPS unit 100.

In yet another embodiment of a setup screen 1430 as illustrated in FIG.10D, the sum 1432 of the distances 1202, 1210, and 1308 previouslyentered by the operator is calculated. The measured distance 1435 fromthe GPS unit 100 to the planter gauge wheels is also determined bydividing the distance along the direction of travel between the firsttest location and the second test location by two. The operator isprompted to re-measure the previously entered GPS offsets if themeasured distance 1435 is different from the sum 1432. Likewise, thedistance 1206 previously entered by the operator is displayed. Themeasured distance 1445 corresponding to the distance 1206 is determinedby dividing the transverse distance between the first test location andthe second test location by two. The operator is prompted to re-measurethe previously entered GPS offsets if the measured distance is differentfrom the distance 1206 previously entered by the operator.

As illustrated in a further setup screen 1502, the operator configuresthe planter swath control. The operator enters the number of swathcontrollers 1500 and the number of row units controlled by each swathcontroller. The operator is preferably able to choose a coveragepattern. In the illustrative embodiment of FIG. 11, the illustratedplanter 10 has four swath controllers 1500 each controlling two rowunits. The operator selects windows 1510 a, 15106, or 1510 c to choosewhether the swath controllers 1500 encounter a stop-planting boundary1505 at the previously planted seed, at a half-row offset from thepreviously planted seed, or at full row offset from the previouslyplanted seed, respectively. In the illustrative example of FIG. 11, theoperator has selected a full row offset (1510 c). The operator selectswindows 1520 a, 1520 b, or 1520 c to choose whether the swathcontrollers are to stop planting when any row of the swath controllercrosses the stop-planting boundary 1505 (“Under-Plant”), when any rowalong transverse line 1515 of the planter crosses the stop-plantingboundary 1505 (“50%-50%”), or when every row controlled by the swathcontroller has crossed the stop-planting boundary 1505 (“Over-Plant”),respectively. In the illustrative example of FIG. 11, the operator hasselected 50%-50% (1520 b).

In a further setup phase, the operator configures the variable ratedrives 1600. The operator indicates which rows are driven by eachvariable rate drive 1600. The operator enters the number of encoderpulses per rotation (discussed later) and the encoder pulse signalfrequency (discussed later) of each variable rate drive 1600.Alternatively, the operator selects a make or type of variable ratedrive 1600 which is associated with the same pulse and frequencycharacteristics.

Continuing the setup phase, the operator is further prompted to enterthe number of seeds per disk on the seed meters 30 driven by eachvariable rate drive 1600. The operator further initiates a calibrationroutine (discussed later) in which the seeding control system 1005drives the seed meters 30 and determines a drive ratio between thevariable rate drives 1600 and the seed meters 30. Alternatively, theoperator enters a drive ratio. In addition, the operator prescribes adefault seed population rate to be used by the variable rate drive 1600if the seeding control system 1005 loses the signal from the GPS unit100.

The operator further configures the radar system 1205 in a test run. Theoperator drives the tractor and the planter monitor 1000 receives radarpulses from the radar system 1205. The planter monitor 1000 determineshow far the tractor has traveled using the signal from the GPS unit 100.The planter monitor 1000 then determines how many radar pulses arereceived per unit distance traveled. The operator further selectswhether the GPS unit 100 or the radar system 1205 is the primary or mosttrusted speed source used by the planter monitor 1000. As describedlater under “Operation,” the planter monitor 1000 will determine whetherto override the operator's choice of primary speed source based on theplanter acceleration.

Turning to FIG. 19A, in a further setup phase the seeding control system1005 is preferably configured to run a process 1610 to identify anoperational problem with the variable rate drives 1600 or swathcontrollers 1500. When the process is initiated by the operator at block1611, the control unit 350 preferably starts one or more variable ratedrives 1600 and engages one or more swath controllers 1500 to drive theseed meters. After a predetermined time period (e.g., 5 seconds) haspassed at block 1612, the control unit 350 stores the subset of rows 12at which seed pulses are not observed. Preferably, the control unit 350then disengages one or more swath controllers 1500 at block 1613 andstores the subset of rows 12 at which the seed pulses are observed aftera predetermined time at block 1614. At block 1615, the control unit 350compares expected to actual presence of seeds for each testedconfiguration and assigns an operational descriptor (e.g., “Good” or“Failed”) to each swath controller 1500 and variable rate drive 1600. Atblock 1616, the planter monitor 1000 preferably displays an operationalsummary indicating whether components (e.g., swath controllers 1500 orvariable rate drives 1600) are working properly. Turning to FIG. 19B,the operational summary may comprise a screen 1620 including a resultsummary 1622 of expected and actual observation of seed pulses for eachcomponent tested, and preferably includes an alarm indicator 1624alerting the operator that a component associated with the indicator hasfailed.

In other embodiments, the control unit 350 may be configured to engageor disengage each variable rate drive and swath controller in series(e.g., from right to left) during a setup phase, allowing the operatorto determine by sight or sound whether each component is operatingproperly.

Calibration

The seeding control system 1005 is preferably configured to use the seedpulses generated by the seed sensors 200 to calibrate the swathcontrollers 1500 and variable rate drives 1600. The calibration routinesdescribed herein measure a delay between a control signal and anoperational change detected by the seed sensors 200. The operationalchange may include changing the rate of seed delivery, stopping seeddelivery or starting seed delivery. It should be appreciated, however,that a delay associated with any operational change involving seeddelivery could be measured according to the calibration routinesdescribed herein.

Calibrating Stop Delay of a Variable Rate Drive

FIG. 12 illustrates an embodiment of a process 2000 to calibrate thevariable rate drives 1600. At block 2100, the control unit 350 instructsthe variable rate drive 1600 to run. At block 2200, if the control unit350 does not receive a seed pulse within any predefined time interval,then at block 2250, the planter monitor 1000 prompts the operator tocheck the seed hopper for seeds 11 or otherwise correct the operation ofthe planter 10 such that seeds 11 will begin being discharged by theseed meter 30 through the seed tube 32. If the control unit 350 receivesa seed pulse, then at block 2300, after a predefined time, the controlunit 350 instructs the variable rate drive 1600 to stop driving the seedmeter 30 at a time to. Time to is stored by the control unit 350. Thecontrol unit 350 then receives seed pulses at block 2400 until no seedpulse is received for a predetermined time (e.g., 5 seconds). At block2450, the control unit then records the time of the last seed pulse(t_(stop)). The difference between t_(stop) and t₀ represents a stopdelay associated with the variable rate drive 1600, which stop delay iscalculated and stored by the control unit 350 at block 2455.

Calibrating Start Delay of a Variable Rate Drive

FIG. 13A illustrates an embodiment of a process 2500 to calibrate thevariable rate drives 1600. At block 2510, the control unit 350 instructsthe variable rate drive 1600 to stop. At block 2520, after apredetermined time, the control unit 350 instructs the variable ratedrive 1600 to start driving the seed meter 30 at a time to. Time to isstored by the control unit 350. If a seed pulse is received by thecontrol unit 350 at block 2530, then the control unit records the timeof the first seed pulse (t_(start)) at block 2540. The differencebetween t_(start) and t₀ represents a start delay associated with thevariable rate drive 1600, which start delay is calculated and stored bythe control unit 350 at block 2545.

With the start delay and stop delay calibrated, the control unit 350preferably uses the start delay and stop delay to adjust the time atwhich the control unit 350 sends control signals to the variable ratedrives 1600 such that seed begins to dispense or stops dispensing at thedesired position in the field.

According to a preferred process 2550 illustrated in FIG. 13B, thecontrol unit 350 estimates the time to the next stop-planting boundaryat block 2552 (preferably using the current planter speed and thedistance to the boundary) and compares said time to the motor stop delayat block 2554. If the time to the next stop-planting boundary is equalto the motor stop delay, then the control unit 350 preferably stops themotor at block 2556.

According to a preferred process 2560 illustrated in FIG. 13C, thecontrol unit 350 estimates the time to the next start-planting boundaryat block 2562 (preferably using the current planter speed and thedistance to the boundary) and compares said time to the motor stop delayat block 2564. If the time to the next start-planting boundary is equalto the motor stop delay, then the control unit 350 preferably starts themotor at block 2566.

Thus the control unit 350 times the subsequent control signals based onthe various delays measured as described herein. The above calibrationprocess may be performed during in-field operation in order to determinethe start delay and stop delay of the variable rate drives under currentor near-current operating conditions.

Calibrating Drive Ratio Between Seed Meter and Variable Rate Drive

FIG. 14 illustrates an embodiment of process 3000 to determine a driveratio between the variable rate drive 1600 and the seed meter 30. Atblock 3100, the control unit 350 instructs the variable rate drive 1600to drive the seed meter 30. At block 3200, if the control unit 350 doesnot receive a seed pulse, at block 3250, the planter monitor 1000prompts the operator to check the seed hopper for seeds 11 or otherwisecorrect the operation of the planter 10 such that seeds 11 will beginbeing discharged by the seed meter 30 through the seed tube 32. Once thecontrol unit receives a seed pulse at block 3200, the control unit 350stores the time of the first observed seed pulse (t₁) at block 3300.Once the control unit 350 receives a predetermined number of seedpulses, e.g., 30, at block 3400, the control unit 350 stores the time ofthe thirtieth seed pulse (t₃₀) at block 3450. The difference between t₃₀and t₁ divided by the number of seed pulses is equal to a timeassociated with a time between the release of seeds 11 by the seed meter30 (t_(nominal)). The speed w_(m) of seed meter 30 is then determinedaccording to the following equation:

$w_{m} = \frac{1}{\left( {{Number}\mspace{14mu} {of}\mspace{14mu} {seeds}\mspace{14mu} {per}\mspace{14mu} {meter}} \right) \times t_{nominal}}$

Where: Number of seeds per meter=Total number of seed cavities,apertures or other seed entraining features on each seed meter 30.

The drive ratio R between the variable rate drive 1600 and the seedmeter 30 is equal to the ratio between the number of encoder pulses thatmust be observed before the seed meter 30 has made one full revolutionand the number of encoder pulses per revolution of the variable ratedrive 1600. The drive ratio R is preferably used by the control unit 350to determine the rate at which to drive the variable rate drive 1600 inorder to obtain a given speed w_(m) of the seed meter and thus acorresponding time t_(nominal) between the release of seeds 11. Thevalues of t_(nominal), w_(m), and R are preferably calculated at step3455 of process flow 3000.

Calibrating Start Delay and Stop Delay of a Swath Controller

FIG. 15A illustrates an embodiment of a process 3500 to determine aclutch start delay and clutch stop delay associated with a swathcontroller 1500. At block 3510, the control unit 350 instructs thevariable rate drive 1600 to run. At block 3525, if the control unit 350does not receive a seed pulse within a predetermined time at block 3520(e.g., 5 seconds), then the planter monitor 1000 prompts the operator tocheck the seed hopper for seeds 11 or otherwise correct the operation ofthe planter 10 such that seeds 11 will begin being discharged by theseed meter 30 through the seed tube 32. At block 3530, if the controlunit 350 receives a seed pulse, then after a predetermined time thecontrol unit 350 instructs the swath controller 1500 to disengage at atime to in order to stop the seed meter 30 from being driven by thevariable rate drive 1600. Time to is stored by the control unit 350. Thecontrol unit 350 then receives seed pulses at block 3540 until no seedpulse is received for a predetermined time. At block 3550, the controlunit then records the time of the last seed pulse (t_(stop)). Thedifference between t_(stop) and t₀ represents a clutch stop delayassociated with the swath controller 1500. The control unit 350preferably calculates the clutch stop delay at block 3555. After apredetermined time, at block 3560, the control unit 350 then instructsthe swath controller 1500 to engage at a time t₀ such that the seedmeter 30 is again driven by the variable rate drive 1600. Time t₀ isstored by the control unit 350. At block 3580, if a seed pulse isreceived by the control unit 350 at block 3570, then the control unitrecords the time of the first seed pulse (t_(start)). The differencebetween t_(start) and t₁ represents a clutch start delay associated withthe swath controller 1500. The control unit 350 preferably calculatesthe clutch start delay at block 3585.

The control unit 350 preferably uses the clutch start delay and clutchstop delay to adjust the time at which the control unit 350 sendscontrol signals to the swath controller 1500 such that seed begins todispense or stops dispensing at the desired position in the field.

According to a preferred process 3600 illustrated in FIG. 15B, thecontrol unit 350 estimates the time to the next stop-planting boundaryat block 3652 (preferably using the current planter speed and thedistance to the boundary) and compares said time to the clutch stopdelay at block 3654. If the time to the next stop-planting boundary isequal to the clutch stop delay, then the control unit 350 preferablydisengages the clutch at block 3656. According to a preferred process3700 illustrated in FIG. 15C, the control unit 350 estimates the time tothe next start-planting boundary at block 3762 (preferably using thecurrent planter speed and the distance to the boundary) and comparessaid time to the motor stop delay at block 3764. If the time to the nextstart-planting boundary is equal to the motor stop delay, then thecontrol unit 350 preferably starts the motor at block 3766. Theforegoing process 3500 may be performed during in-field operation inorder to determine the clutch start delay and clutch stop delay undercurrent or near-current operating conditions.

Empirical data has shown that even under nearly equivalent operatingconditions, there is a variation in clutch stop delay. FIG. 16A shows agraph 4000 illustrating components of delay associated with swathcontrollers 1500. The x-axis 4145 of graph 4000 represents the distance(in inches) traveled by the planter 10 after the clutch of the swathcontroller 1500 is disengaged.

Data sets 4150 and 4155 represent tests performed at varying seedpopulation rates 4140 in units of seeds per acre. Bars 4100 represent aphysical delay (measured in inches traveled) associated with theelectronic and pneumatic components of the variable rate drive 1600.Bars 4110 represent a rotational delay (measured in inches traveled)resulting from the mechanical action of the clutch in the swathcontroller 1500. Bars 4120 represent a delay (measured in inchestraveled) associated with the time required for the last seed 11 to bereleased from the seed meter 30 and pass the seed sensor 200. Each set4160 of data shows (from bottom to top) the total delay including therotational delay 4110, the total delay not including the rotationaldelay 4110, and a last plant range 4130 representing the range betweentotal delay without rotational delay 4110 and with rotational delay4110.

Continuing to refer to FIG. 16A, the rotational delay 4110 variesbecause once the clutch is disengaged at a random rotational position ofa shaft rotating within the clutch, the clutch will have to rotatethrough varying degrees before contacting a stopping member. The rangein rotational delay 4110 will change based on the seed population ratebecause the clutch will be rotating faster at higher seed populationrates.

Thus a preferred embodiment of seeding control system 1005 is configuredto determine a range of delays between a control signal sent to theswath controller 1500 and an operational change in the swath controller1500, namely engaging or disengaging the clutch. The control unit 350preferably performs this process multiple times to obtain a distributionof clutch stop delays. The tenth percentile of the distribution ofclutch stop delays is approximately equal to the physical delay 4100.

In a preferred process 4500 illustrated in FIG. 16B, the control unit350 determines and stores a total clutch stop delay (preferably asdetermined in blocks 3530 through 3555 in process 3500 of FIG. 6) atblock 4510. This process is repeated (preferably at the same seedpopulation rate) until clutch stop delay has been determined a thresholdnumber of times (e.g., five) at block 4520. At block 4530, the controlunit 350 preferably determines the fixed physical clutch stop delay 4100(e.g., by finding the tenth percentile of the distribution of totaldelays). At block 4540, the control unit 350 preferably determines thepopulation-dependent rotational clutch stop delay 4110 (e.g., bysubtracting the 10th percentile of the distribution of total delays fromthe ninetieth percentile of the distribution of total delays).

In operation, when the control unit 350 is accessing the clutch stopdelay (e.g., at step 3654 of process 3600 illustrated in FIG. 15B), thecontrol unit preferably modifies the rotational delay 4110 based on theratio between the population rate at which the rotational delay 4110 wasdetermined and the active population rate. For example, if therotational delay 4110 was determined at a population of 40,000 seeds peracre, then the rotational delay would be doubled at a population of20,000 seeds per acre. Thus, the control unit 350 preferably adjusts apredicted component of clutch stop delay based on the active populationrate.

As is illustrated in data set 4150 and data set 4155 of FIG. 16A, byadjusting the time at which the control signal is sent to swathcontroller 1500 according to this method at each seed population rate4140, the last plant ranges 4130 become centered at a desired distance4160 at each seed population rate 4140.

In addition, the planter monitor 1000 preferably displays the physicaldelay 4100, the rotational delay 4110 and the fall delay 4120 to theoperator. The planter monitor also displays the sum of the fall delay4120 and the physical delay 4100 to the operator. The planter monitor1000 preferably displays said sum as a “Fixed Delay” and said rotationaldelay 4110 as a “Variable Delay.” The planter monitor 1000 thus isolatesa fixed portion of the clutch delay from a variable portion of theclutch delay associated with the swath control systems 1500. With thisinformation, the operator is able to see the benefit of making changesin clutch mounting location in order to reduce the variable delay.

It should be appreciated that each calibration routine described hereincould be performed prior to planting or in-field during planting. Priorto planting, a calibration routine may be initiated by the operatorusing a series of screens on the planter monitor 1000. The cab module1105 preferably includes switches configured to allow the operator tobriefly run the variable rate drives 1600 in order to load the seedmeters 30 with seeds 11 prior to a pre-planting calibration routine.These switches may also be used to turn the variable rate drives 1600 onand off during a pre-planting calibration routine. The switches may alsobe used to selectively engage and disengage the swath controllers 1500during a pre-planting calibration routine. During planting, as thevariable rate drives 1600 and swath controllers 1500 are actually usedin the field, the seed sensors 200 preferably continue to provide seedpulses to the control unit 350. Thus the control unit 350 is preferablyable to measure delays associated with the variable rate drives 1600 andthe swath controllers 1500 during planting.

Operation

As previously discussed, referring to FIG. 7, the seed pulses from theseed sensors 200 in each row unit 12 of the planter 10 are communicatedto the planter monitor 1000. The planter monitor 1000 is in electricalcommunication with the GPS unit 100, the cab module 1105, the radarsystem 1205 and the control unit 350. The control unit 350 is inelectrical communication with the individual swath controllers 1500 andvariable rate drives 1600 and the height sensor 705.

The planter monitor 1000 is preferably configured to allow an operatorto enter commands and input data including seed population rates andmapping information. The operator enters a desired seed population rateto the planter monitor 1000. The operator then pulls the planter 10across the field. The planter monitor 1000 relays the desired seedpopulation to the control unit 350 and determines the speed of theplanter 10 using signals from the GPS unit 100 and/or the radar system1205. The planter monitor 1000 displays the speed to the operator andtransmits the speed to the control unit 350. The control unit 350determines an appropriate speed of the seed meter 30 to obtain thedesired seed population rate based on the speed of the planter 10 andother criteria including the size of seed meter 30, the number ofseed-entraining features on seed meter 30, and other criteria affectingthe rate of seed delivery. The control unit 350 determines the actualcurrent speed of the seed meter 30 based on the encoder pulse of thevariable rate drive 1600 and sends an appropriate control signal to thevariable rate drives 1600. Each variable rate drive 1600 is configuredto individually variably drive a seed meter 30 in each row unit of theplanter 10 at a speed based on the control signal received from thecontrol unit 350.

The control unit 350 uses a signal from the height sensor 705 todetermine whether the planter 10 is lifted in a transport position. Ifthe control unit 350 determines that the planter 10 is in a transportposition, it will preferably direct the variable rate drives 1600 tostop driving the seed meters 30.

The seeding control system 1005 also generates a seed placement map. Aseach seed 11 passes through the seed tube 32, the seed sensor 200 sendsa seed pulse to the control unit 350. The planter monitor 1000associates the time of the seed pulse with a location of the GPS unit100 and determines the location in the field that the seed 11 wasdispensed based on the GPS offsets entered by the operator in the setupphase as previously described. The planter monitor 1000 then adds theposition of the seed 11 to a seed placement map that preferablydisplayed to the operator and is used to determine “stop planting”conditions.

The planter monitor 1000 determines if a stop-planting condition existsfor any swath (comprising a single row unit or a set of row units) ofthe planter 10, the planter monitor 1000 sends a stop-planting signal tothe control unit 350. The control unit 350 then sends a signal toactuate the swath controller 1500 such that the clutch is disengaged sothat the seed meters 30 in the swath are not being driven until theclutch is re-engaged when the stop planting condition passes. Theclutches may be any pneumatic or electrical clutches as are known in theart.

The seeding control system 1005 may also be used to alert the operatorof operational problems within the variable rate drives 1600 and theswath controllers 1500 using seed pulses during in-field operations.Referring to FIG. 19C, a preferred process 1630 for providing suchalerts to the operator in-field is illustrated. At block 1631, thecontrol unit determines whether the variable rate drive 1600 associatedwith the row unit 12 is on. Once the variable rate drive is on, thecontrol unit determines at block 1632 whether the swath controller 1500associated with the row unit is engaged. If the associated swathcontroller is not engaged, then at block 1634 the control unitdetermines whether seeds are being deposited at the row. If seeds arenot being deposited, a successful operation descriptor is stored atblock 1635. If seeds are being deposited, a failed clutch operationdescriptor is stored at block 1638 and an alarm is preferably displayedto the user. Returning to block 1632, if the associated swath controller1500 is engaged, then at block 1633 the control unit determines whetherseeds are being deposited. If seeds are being deposited, then asuccessful operation descriptor is stored at block 1635. If seeds arenot being deposited, then a failed motor operation descriptor is storedat block 1637 and an alarm is preferably displayed to the user.

Where an alarm is displayed as a result of process 1630, the seedingcontrol system is also preferably configured to determine whether anelectrical or hydraulic error has occurred. It should be appreciatedthat the seeding control system 1005 could also be used to detect otheroperational problems with the planter 10 that affect the delivery ofseeds.

FIG. 17A illustrates a preferred process 5000 used by the seedingcontrol system 1005 to determine the speed of planter 10. At block 5100,the control unit 350 determines whether acceleration of the planter 10is greater than an upper threshold (preferably 1.5 ft/s²) based on thesignal provided by horizontal accelerometer 400 at block 5100. If theacceleration is greater than the upper threshold, the control unit 350determines the speed of planter 10 using the highest stable valuereported by the GPS unit 100 (the “GPS-reported speed”) and the radarsystem 1205 (the “radar-reported speed”) at block 5150. The plantermonitor 1000 determines whether the GPS-reported speed is stable usingan algorithm or other method as is known in the art. The cab module alsoincludes processing circuitry configured to determine whether theradar-reported speed is stable using an algorithm or other method as isknown in the art. At block 5200, if the acceleration is less than theupper threshold acceleration, then the control unit 350 determineswhether the acceleration of planter 10 is less than a lower threshold(preferably −1.5 ft/s²) based on the signal provided by horizontalaccelerometer 400. At block 5250, if the acceleration is less than thelower threshold rate, the control unit 350 determines the speed ofplanter 10 using the lowest stable value reported by the GPS unit 100(the “GPS-reported speed”) and the radar system 1205 (the“radar-reported speed”). At block 5300, if the acceleration is greaterthan the lower threshold rate, the control unit 350 determines the speedof planter 10 using the speed input previously selected by the operator.As discussed herein under “Setup,” the planter monitor 1000 isconfigured to allow a user to select a preferred speed input.

The control unit 350 will often need to stop the variable rate drives1600 when the planter 10 is not moving. Likewise, the control unit 350will need to start the variable rate drives 1600 when the planter 10resumes moving. As previously discussed, empirical data has shown thatdata from the GPS unit 100 is delayed and untrustworthy at speeds lowerthan approximately one mile per hour. Empirical data has also shown thatthe GPS unit 100 will indicate speeds of 0.1 or 0.2 miles per hour whenthe planter 10 is actually stopped. For these reasons, speed inputsprovided by those systems are non-ideal for determining when the planter10 will stop or determining when the planter 10 has resumed travel. Thusin a preferred embodiment, the control unit 350 predicts a stopping timeof the planter 10 using the signal from horizontal accelerometer 400 andsends an appropriately-timed control signal to stop the variable ratedrive 1600.

A preferred process 5500 for carrying out this method is illustrated inFIG. 17B. When the planter 10 decelerates to a speed less than athreshold speed (preferably 4.5 ft/s) at block 5510, the control unit350 determines an estimated stopping time based on the currentlyutilized speed input and deceleration rates indicated by the horizontalaccelerometer 400 at block 5520. When the stopping time is approximatelyequal to the stop delay associated with the variable rate drive(preferably determined as described above) at block 5530, the controlunit 350 preferably instructs the variable rate drives 1600 to stopdriving the seed meters 30 at block 5540.

Continuing to refer to FIG. 17B, after the planter 10 has stopped, thecontrol unit 350 preferably determines that the planter 10 has resumedtravel by integrating the signal provided by the horizontalaccelerometer 400 at block 1550. When the speed determined from thismethod reaches a threshold value at block 5560, the control unit 350preferably instructs the variable rate drives 1600 to resume driving theseed meters 30 at block 5570.

It should be appreciated that the methods described herein may be usedto automatically alternate between other speed inputs as are known inthe art. Thus the method described herein may be applied whenever onespeed input is preferred over another in a certain range of anykinematic criteria including acceleration or velocity of the planter 10.

The planter monitor 1000 determines that a stop-planting conditionexists when a section of the planter 10 is passing over a previouslyplanted seed based on the seed placement map described above. Theplanter monitor 1000 also determines that a stop-planting conditionexists when a section of the planter 10 travels across a boundary 1505set by the operator. The boundary 1505 may comprise an outer boundary ofthe field to be planted or an inner boundary within said field enclosinga waterway or obstacle on which the operator does not wish to dispenseseed. The boundary 1505 may also enclose a headland in which theoperator intends to plant seed later. The operator may import suchboundaries to the planter monitor 1000 using any suitable data storagedevice, including a USB flash drive, an internet connection, etc. Theplanter monitor 1000 may also record such boundaries by storing thelocation of the GPS unit 100 while the operator drives around theboundary. The planter monitor 1000 is preferably configured to allow theoperator to instruct the swath controllers 1500 to stop the seed meters30 during one, all, or any subset of the stop-planting conditions hereindescribed.

FIG. 18 illustrates a user interface screen 6000 displayed on theplanter monitor 1000 and configured to allow a user to selectstop-planting conditions as described above. The operator may press orselect windows 6100, 6200, 6300 or 6400 to activate or deactivate astop-planting condition. When a stop-planting condition is deactivated,the associated window preferably displays the same using a strikethroughor other indicator as illustrated in window 6300. The operator pressesor selects window 6600 to save the set of activated stop-plantingconditions. Window 6500 indicates whether swath controllers 1500 areenabled for any stop-planting condition.

It should be appreciated that in addition to the stop-plantingconditions described herein, other stop-planting conditions based uponthe location, speed, orientation or configuration of the planter 10could be incorporated into the planter monitor 1000 or designated by theoperator.

It should be appreciated that processing functions performed by thecontrol unit 350 as recited herein could also be performed by theplanter monitor 1000. In addition, processing functions performed by theplanter monitor 1000 as recited herein could also be performed by thecontrol unit 350.

The foregoing description is presented to enable one of ordinary skillin the art to make and use the invention and is provided in the contextof a patent application and its requirements. Various modifications tothe preferred embodiment of the apparatus, and the general principlesand features of the system and methods described herein will be readilyapparent to those of skill in the art. Thus, the present invention isnot to be limited to the embodiments of the apparatus, system andmethods described above and illustrated in the drawing figures, but isto be accorded the widest scope consistent with the spirit and scope ofthe appended claims.

1. A method of calibrating an agricultural planter (10) configured todispense seeds, said method comprising: detecting seeds dispensed by arow unit of the planter with a seed sensor, said seed sensor generatinga seed pulse upon the detection of each of said dispensed seeds; sendinga start control signal and a stop control signal to a control device,said control device controlling the dispensing of seeds by said rowunit; determining a start delay by measuring a time delay between thesending of said start control signal and the detection of a first seedpulse after sending said start control signal; and determining a stopdelay by measuring a time delay between the sending of said stop controlsignal and the detection of a last seed pulse after sending said stopcontrol signal.
 2. The method of claim 1, wherein said control device isa swath controller, said swath controller controlling a drive thatcontrols dispensing of seeds by said row unit.
 3. The method of claim 1,wherein said control device is a drive that controls dispensing of seedsby said row unit.
 4. The method of claim 2, further comprising:repeating multiple times said step of measuring said time delays; anddetermining a portion of said measured time delays which are dependentupon a rate at which seeds are dispensed by said row unit.
 5. The methodof claim 1, further comprising: storing said measured time delays inmemory.
 6. The method of claim 1, further comprising: prompting anoperator to check a seed supply upon detection that no seeds are beingdispensed by said row unit within a predefined time interval aftersending a start control signal.
 7. The method of claim 1, wherein saidcontrol device controls a seed meter associated with said row unit, andwherein said measured time delay is a time between detection of a firstseed dispensed by said seed meter and detection of a selected number ofseeds dispensed by said seed meter, and further comprising: calculatinga speed of said seed meter; and calculating a drive ratio between saidvariable rate drive and said seed meter.